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<div class="title">rsd.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2009, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
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<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_RSD_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_RSD_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/features/feature.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keyword">template</span> &lt;<span class="keywordtype">int</span> N&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  getFeaturePointCloud (<span class="keyword">const</span> std::vector&lt;Eigen::MatrixXf, Eigen::aligned_allocator&lt;Eigen::MatrixXf&gt; &gt; &amp;histograms2D, <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&lt;Histogram&lt;N&gt; &gt; &amp;histogramsPC)</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  {</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    histogramsPC.points.resize (histograms2D.size ());</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    histogramsPC.width    = histograms2D.size ();</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    histogramsPC.height   = 1;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    histogramsPC.is_dense = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> rows  = histograms2D.at(0).rows();</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> cols = histograms2D.at(0).cols();</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;Histogram&lt;N&gt;</a> &gt;::VectorType::iterator it = histogramsPC.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.begin ();</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    BOOST_FOREACH (Eigen::MatrixXf h, histograms2D)</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    {</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      Eigen::Map&lt;Eigen::MatrixXf&gt; histogram (&amp;(it-&gt;histogram[0]), rows, cols);</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      histogram = h;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      ++it;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    }</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  }</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; Eigen::MatrixXf</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  computeRSD (boost::shared_ptr&lt;<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> &gt; &amp;surface, boost::shared_ptr&lt;<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> &gt; &amp;normals,</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;             <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, <span class="keywordtype">double</span> max_dist,</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;             <span class="keywordtype">int</span> nr_subdiv, <span class="keywordtype">double</span> plane_radius, PointOutT &amp;radii, <span class="keywordtype">bool</span> compute_histogram = <span class="keyword">false</span>);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; Eigen::MatrixXf</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  computeRSD (boost::shared_ptr&lt;<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> &gt; &amp;normals,</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;             <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices, <span class="keyword">const</span> std::vector&lt;float&gt; &amp;sqr_dists, <span class="keywordtype">double</span> max_dist,</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;             <span class="keywordtype">int</span> nr_subdiv, <span class="keywordtype">double</span> plane_radius, PointOutT &amp;radii, <span class="keywordtype">bool</span> compute_histogram = <span class="keyword">false</span>);</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt;</div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classpcl_1_1_r_s_d_estimation.html">  130</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_r_s_d_estimation.html">RSDEstimation</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals</a>&lt;PointInT, PointNT, PointOutT&gt;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  {</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::feature_name_</a>;</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::indices_</a>;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::search_radius_</a>;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::search_parameter_</a>;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature.html">Feature&lt;PointInT, PointOutT&gt;::surface_</a>;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_feature_from_normals.html">FeatureFromNormals&lt;PointInT, PointNT, PointOutT&gt;::normals_</a>;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudOut</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a>;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Feature&lt;PointInT, PointOutT&gt;::PointCloudIn</a>  <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> boost::shared_ptr&lt;RSDEstimation&lt;PointInT, PointNT, PointOutT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> boost::shared_ptr&lt;const RSDEstimation&lt;PointInT, PointNT, PointOutT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="classpcl_1_1_r_s_d_estimation.html#ad1b0ed7e8ba342caf124c1439b2784c1">  149</a></span>&#160;      <a class="code" href="classpcl_1_1_r_s_d_estimation.html#ad1b0ed7e8ba342caf124c1439b2784c1">RSDEstimation</a> () : <a class="code" href="classpcl_1_1_r_s_d_estimation.html#afa628a73c32d67b839d6749468cc888f">nr_subdiv_</a> (5), <a class="code" href="classpcl_1_1_r_s_d_estimation.html#af9eeb30707166438178342d74edf0fc1">plane_radius_</a> (0.2), <a class="code" href="classpcl_1_1_r_s_d_estimation.html#af353b24a72186d4e33b8b63679324445">save_histograms_</a> (false)</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      {</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        <a class="code" href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">feature_name_</a> = <span class="stringliteral">&quot;RadiusSurfaceDescriptor&quot;</span>;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      };</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00158"></a><span class="lineno"><a class="line" href="classpcl_1_1_r_s_d_estimation.html#a1def3991558aed6f3c9e7bdddadcbae9">  158</a></span>&#160;      <a class="code" href="classpcl_1_1_r_s_d_estimation.html#a1def3991558aed6f3c9e7bdddadcbae9">setNrSubdivisions</a> (<span class="keywordtype">int</span> nr_subdiv) { <a class="code" href="classpcl_1_1_r_s_d_estimation.html#afa628a73c32d67b839d6749468cc888f">nr_subdiv_</a> = nr_subdiv; }</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00164"></a><span class="lineno"><a class="line" href="classpcl_1_1_r_s_d_estimation.html#a8dbe5c6cafe71dd8743a9f6df8b1af06">  164</a></span>&#160;      <a class="code" href="classpcl_1_1_r_s_d_estimation.html#a8dbe5c6cafe71dd8743a9f6df8b1af06">getNrSubdivisions</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_r_s_d_estimation.html#afa628a73c32d67b839d6749468cc888f">nr_subdiv_</a>); }</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00172"></a><span class="lineno"><a class="line" href="classpcl_1_1_r_s_d_estimation.html#aecde5695830922aa1db68f7c137a28af">  172</a></span>&#160;      <a class="code" href="classpcl_1_1_r_s_d_estimation.html#aecde5695830922aa1db68f7c137a28af">setPlaneRadius</a> (<span class="keywordtype">double</span> plane_radius) { <a class="code" href="classpcl_1_1_r_s_d_estimation.html#af9eeb30707166438178342d74edf0fc1">plane_radius_</a> = plane_radius; }</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00178"></a><span class="lineno"><a class="line" href="classpcl_1_1_r_s_d_estimation.html#ad9d6fde64602975e5517b73f1632e34d">  178</a></span>&#160;      <a class="code" href="classpcl_1_1_r_s_d_estimation.html#ad9d6fde64602975e5517b73f1632e34d">getPlaneRadius</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_r_s_d_estimation.html#af9eeb30707166438178342d74edf0fc1">plane_radius_</a>); }</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00182"></a><span class="lineno"><a class="line" href="classpcl_1_1_r_s_d_estimation.html#a49e3c7640cb49fc4fa156c4ed3d5ba6d">  182</a></span>&#160;      <a class="code" href="classpcl_1_1_r_s_d_estimation.html#a49e3c7640cb49fc4fa156c4ed3d5ba6d">setKSearch</a> (<span class="keywordtype">int</span>) </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      {</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::setKSearch] RSD does not work with k nearest neighbor search. Use setRadiusSearch() instead!\n&quot;</span>, <a class="code" href="classpcl_1_1_feature.html#ae6b4d5717999b6267a670dc704146fdc">getClassName</a> ().c_str ());</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      }</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="classpcl_1_1_r_s_d_estimation.html#ae2179ad69a9cceac6ff52ff7bf0126da">  192</a></span>&#160;      <a class="code" href="classpcl_1_1_r_s_d_estimation.html#ae2179ad69a9cceac6ff52ff7bf0126da">setSaveHistograms</a> (<span class="keywordtype">bool</span> save) { <a class="code" href="classpcl_1_1_r_s_d_estimation.html#af353b24a72186d4e33b8b63679324445">save_histograms_</a> = save; }</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00198"></a><span class="lineno"><a class="line" href="classpcl_1_1_r_s_d_estimation.html#ad82d625c7fa3b31ab3eba7d85c309a48">  198</a></span>&#160;      <a class="code" href="classpcl_1_1_r_s_d_estimation.html#ad82d625c7fa3b31ab3eba7d85c309a48">getSaveHistograms</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_r_s_d_estimation.html#af353b24a72186d4e33b8b63679324445">save_histograms_</a>); }</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      <span class="keyword">inline</span> boost::shared_ptr&lt;std::vector&lt;Eigen::MatrixXf, Eigen::aligned_allocator&lt;Eigen::MatrixXf&gt; &gt; &gt;</div>
<div class="line"><a name="l00204"></a><span class="lineno"><a class="line" href="classpcl_1_1_r_s_d_estimation.html#a4d8d9e2af9a85d651bec211541295ef9">  204</a></span>&#160;      <a class="code" href="classpcl_1_1_r_s_d_estimation.html#a4d8d9e2af9a85d651bec211541295ef9">getHistograms</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_r_s_d_estimation.html#ae07649f53ca1e455ff3a48638ba9ae32">histograms_</a>); }</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      <a class="code" href="classpcl_1_1_r_s_d_estimation.html#a1b4ed079e1fb2250fd6301c0f1f4da56">computeFeature</a> (PointCloudOut &amp;output);</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno"><a class="line" href="classpcl_1_1_r_s_d_estimation.html#ae07649f53ca1e455ff3a48638ba9ae32">  217</a></span>&#160;      boost::shared_ptr&lt;std::vector&lt;Eigen::MatrixXf, Eigen::aligned_allocator&lt;Eigen::MatrixXf&gt; &gt; &gt; <a class="code" href="classpcl_1_1_r_s_d_estimation.html#ae07649f53ca1e455ff3a48638ba9ae32">histograms_</a>;</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00221"></a><span class="lineno"><a class="line" href="classpcl_1_1_r_s_d_estimation.html#afa628a73c32d67b839d6749468cc888f">  221</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_r_s_d_estimation.html#afa628a73c32d67b839d6749468cc888f">nr_subdiv_</a>;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno"><a class="line" href="classpcl_1_1_r_s_d_estimation.html#af9eeb30707166438178342d74edf0fc1">  224</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_r_s_d_estimation.html#af9eeb30707166438178342d74edf0fc1">plane_radius_</a>;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno"><a class="line" href="classpcl_1_1_r_s_d_estimation.html#af353b24a72186d4e33b8b63679324445">  227</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_r_s_d_estimation.html#af353b24a72186d4e33b8b63679324445">save_histograms_</a>;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  };</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;}</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;<span class="preprocessor">#include &lt;pcl/features/impl/rsd.hpp&gt;</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160; </div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_RSD_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_feature_from_normals_html"><div class="ttname"><a href="classpcl_1_1_feature_from_normals.html">pcl::FeatureFromNormals</a></div><div class="ttdef"><b>Definition:</b> feature.h:311</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html"><div class="ttname"><a href="classpcl_1_1_feature.html">pcl::Feature</a></div><div class="ttdoc">Feature represents the base feature class. Some generic 3D operations that are applicable to all feat...</div><div class="ttdef"><b>Definition:</b> feature.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_a54032b79551164878ff59ed93b5c1dc5"><div class="ttname"><a href="classpcl_1_1_feature.html#a54032b79551164878ff59ed93b5c1dc5">pcl::Feature::feature_name_</a></div><div class="ttdeci">std::string feature_name_</div><div class="ttdoc">The feature name.</div><div class="ttdef"><b>Definition:</b> feature.h:222</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_ae6b4d5717999b6267a670dc704146fdc"><div class="ttname"><a href="classpcl_1_1_feature.html#ae6b4d5717999b6267a670dc704146fdc">pcl::Feature::getClassName</a></div><div class="ttdeci">const std::string &amp; getClassName() const</div><div class="ttdoc">Get a string representation of the name of this class.</div><div class="ttdef"><b>Definition:</b> feature.h:246</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1_r_s_d_estimation_html"><div class="ttname"><a href="classpcl_1_1_r_s_d_estimation.html">pcl::RSDEstimation</a></div><div class="ttdoc">RSDEstimation estimates the Radius-based Surface Descriptor (minimal and maximal radius of the local ...</div><div class="ttdef"><b>Definition:</b> rsd.h:131</div></div>
<div class="ttc" id="aclasspcl_1_1_r_s_d_estimation_html_a1b4ed079e1fb2250fd6301c0f1f4da56"><div class="ttname"><a href="classpcl_1_1_r_s_d_estimation.html#a1b4ed079e1fb2250fd6301c0f1f4da56">pcl::RSDEstimation::computeFeature</a></div><div class="ttdeci">void computeFeature(PointCloudOut &amp;output)</div><div class="ttdoc">Estimate the estimates the Radius-based Surface Descriptor (RSD) at a set of points given by &lt;setInpu...</div><div class="ttdef"><b>Definition:</b> rsd.hpp:249</div></div>
<div class="ttc" id="aclasspcl_1_1_r_s_d_estimation_html_a1def3991558aed6f3c9e7bdddadcbae9"><div class="ttname"><a href="classpcl_1_1_r_s_d_estimation.html#a1def3991558aed6f3c9e7bdddadcbae9">pcl::RSDEstimation::setNrSubdivisions</a></div><div class="ttdeci">void setNrSubdivisions(int nr_subdiv)</div><div class="ttdoc">Set the number of subdivisions for the considered distance interval.</div><div class="ttdef"><b>Definition:</b> rsd.h:158</div></div>
<div class="ttc" id="aclasspcl_1_1_r_s_d_estimation_html_a49e3c7640cb49fc4fa156c4ed3d5ba6d"><div class="ttname"><a href="classpcl_1_1_r_s_d_estimation.html#a49e3c7640cb49fc4fa156c4ed3d5ba6d">pcl::RSDEstimation::setKSearch</a></div><div class="ttdeci">void setKSearch(int)</div><div class="ttdoc">Disables the setting of the number of k nearest neighbors to use for the feature estimation.</div><div class="ttdef"><b>Definition:</b> rsd.h:182</div></div>
<div class="ttc" id="aclasspcl_1_1_r_s_d_estimation_html_a4d8d9e2af9a85d651bec211541295ef9"><div class="ttname"><a href="classpcl_1_1_r_s_d_estimation.html#a4d8d9e2af9a85d651bec211541295ef9">pcl::RSDEstimation::getHistograms</a></div><div class="ttdeci">boost::shared_ptr&lt; std::vector&lt; Eigen::MatrixXf, Eigen::aligned_allocator&lt; Eigen::MatrixXf &gt; &gt; &gt; getHistograms() const</div><div class="ttdoc">Returns a pointer to the list of full distance-angle histograms for all points.</div><div class="ttdef"><b>Definition:</b> rsd.h:204</div></div>
<div class="ttc" id="aclasspcl_1_1_r_s_d_estimation_html_a8dbe5c6cafe71dd8743a9f6df8b1af06"><div class="ttname"><a href="classpcl_1_1_r_s_d_estimation.html#a8dbe5c6cafe71dd8743a9f6df8b1af06">pcl::RSDEstimation::getNrSubdivisions</a></div><div class="ttdeci">int getNrSubdivisions() const</div><div class="ttdoc">Get the number of subdivisions for the considered distance interval.</div><div class="ttdef"><b>Definition:</b> rsd.h:164</div></div>
<div class="ttc" id="aclasspcl_1_1_r_s_d_estimation_html_ad1b0ed7e8ba342caf124c1439b2784c1"><div class="ttname"><a href="classpcl_1_1_r_s_d_estimation.html#ad1b0ed7e8ba342caf124c1439b2784c1">pcl::RSDEstimation::RSDEstimation</a></div><div class="ttdeci">RSDEstimation()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> rsd.h:149</div></div>
<div class="ttc" id="aclasspcl_1_1_r_s_d_estimation_html_ad82d625c7fa3b31ab3eba7d85c309a48"><div class="ttname"><a href="classpcl_1_1_r_s_d_estimation.html#ad82d625c7fa3b31ab3eba7d85c309a48">pcl::RSDEstimation::getSaveHistograms</a></div><div class="ttdeci">bool getSaveHistograms() const</div><div class="ttdoc">Returns whether the full distance-angle histograms are being saved.</div><div class="ttdef"><b>Definition:</b> rsd.h:198</div></div>
<div class="ttc" id="aclasspcl_1_1_r_s_d_estimation_html_ad9d6fde64602975e5517b73f1632e34d"><div class="ttname"><a href="classpcl_1_1_r_s_d_estimation.html#ad9d6fde64602975e5517b73f1632e34d">pcl::RSDEstimation::getPlaneRadius</a></div><div class="ttdeci">double getPlaneRadius() const</div><div class="ttdoc">Get the maximum radius, above which everything can be considered planar.</div><div class="ttdef"><b>Definition:</b> rsd.h:178</div></div>
<div class="ttc" id="aclasspcl_1_1_r_s_d_estimation_html_ae07649f53ca1e455ff3a48638ba9ae32"><div class="ttname"><a href="classpcl_1_1_r_s_d_estimation.html#ae07649f53ca1e455ff3a48638ba9ae32">pcl::RSDEstimation::histograms_</a></div><div class="ttdeci">boost::shared_ptr&lt; std::vector&lt; Eigen::MatrixXf, Eigen::aligned_allocator&lt; Eigen::MatrixXf &gt; &gt; &gt; histograms_</div><div class="ttdoc">The list of full distance-angle histograms for all points.</div><div class="ttdef"><b>Definition:</b> rsd.h:217</div></div>
<div class="ttc" id="aclasspcl_1_1_r_s_d_estimation_html_ae2179ad69a9cceac6ff52ff7bf0126da"><div class="ttname"><a href="classpcl_1_1_r_s_d_estimation.html#ae2179ad69a9cceac6ff52ff7bf0126da">pcl::RSDEstimation::setSaveHistograms</a></div><div class="ttdeci">void setSaveHistograms(bool save)</div><div class="ttdoc">Set whether the full distance-angle histograms should be saved.</div><div class="ttdef"><b>Definition:</b> rsd.h:192</div></div>
<div class="ttc" id="aclasspcl_1_1_r_s_d_estimation_html_aecde5695830922aa1db68f7c137a28af"><div class="ttname"><a href="classpcl_1_1_r_s_d_estimation.html#aecde5695830922aa1db68f7c137a28af">pcl::RSDEstimation::setPlaneRadius</a></div><div class="ttdeci">void setPlaneRadius(double plane_radius)</div><div class="ttdoc">Set the maximum radius, above which everything can be considered planar.</div><div class="ttdef"><b>Definition:</b> rsd.h:172</div></div>
<div class="ttc" id="aclasspcl_1_1_r_s_d_estimation_html_af353b24a72186d4e33b8b63679324445"><div class="ttname"><a href="classpcl_1_1_r_s_d_estimation.html#af353b24a72186d4e33b8b63679324445">pcl::RSDEstimation::save_histograms_</a></div><div class="ttdeci">bool save_histograms_</div><div class="ttdoc">Signals whether the full distance-angle histograms are being saved.</div><div class="ttdef"><b>Definition:</b> rsd.h:227</div></div>
<div class="ttc" id="aclasspcl_1_1_r_s_d_estimation_html_af9eeb30707166438178342d74edf0fc1"><div class="ttname"><a href="classpcl_1_1_r_s_d_estimation.html#af9eeb30707166438178342d74edf0fc1">pcl::RSDEstimation::plane_radius_</a></div><div class="ttdeci">double plane_radius_</div><div class="ttdoc">The maximum radius, above which everything can be considered planar.</div><div class="ttdef"><b>Definition:</b> rsd.h:224</div></div>
<div class="ttc" id="aclasspcl_1_1_r_s_d_estimation_html_afa628a73c32d67b839d6749468cc888f"><div class="ttname"><a href="classpcl_1_1_r_s_d_estimation.html#afa628a73c32d67b839d6749468cc888f">pcl::RSDEstimation::nr_subdiv_</a></div><div class="ttdeci">int nr_subdiv_</div><div class="ttdoc">The number of subdivisions for the considered distance interval.</div><div class="ttdef"><b>Definition:</b> rsd.h:221</div></div>
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